CN115303261B - Automatic parking method and device based on field terminal, electronic equipment and storage medium - Google Patents
Automatic parking method and device based on field terminal, electronic equipment and storage medium Download PDFInfo
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- CN115303261B CN115303261B CN202210917836.2A CN202210917836A CN115303261B CN 115303261 B CN115303261 B CN 115303261B CN 202210917836 A CN202210917836 A CN 202210917836A CN 115303261 B CN115303261 B CN 115303261B
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- 238000004891 communication Methods 0.000 claims abstract description 206
- 230000015654 memory Effects 0.000 claims description 27
- 238000012795 verification Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 11
- 230000008447 perception Effects 0.000 claims description 5
- 238000007499 fusion processing Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
- H04W12/069—Authentication using certificates or pre-shared keys
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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Abstract
The application discloses an automatic parking method and device based on a field end, electronic equipment and a storage medium, and relates to the technical field of automatic parking. The method comprises the following steps: uploading the current vehicle information to a road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information; if the current vehicle identity is qualified, uploading current vehicle information to a field end server through a road side communication unit and downloading a high-precision map, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information and the high-precision map, and sends the parking route to the road side communication unit for broadcasting; and receiving the parking route broadcasted by the roadside communication unit, and executing automatic parking according to the parking route and the high-precision map. The application can avoid the risks of vehicle collision and parking interruption caused by unexpected information.
Description
Technical Field
The present application relates to the field of automatic parking technologies, and in particular, to a field-end-based automatic parking method, apparatus, electronic device, and storage medium.
Background
In recent years, with the rapid growth of national economy, the rapid progress of society and the continuous enhancement of national force, the working and living environments of people have changed greatly. Urban population is increasingly dense, households with private cars are increasingly more and more, and car owners often spend a lot of time on parking, which is not in line with fast-paced urban life, so a fast and effective automatic parking method is needed.
The existing technical solutions of different levels of parking APA (Auto PARKING ASSIST, automatic parking assist function)/HPP (Home Zone Parking Pilot, memory parking)/AVP (Autonomous passenger parking) are based on a combination of a vehicle end sensor (such as a camera sensor, an ultrasonic radar, a laser radar, etc.) and a vehicle end computing unit to perform path planning, obstacle avoidance and vehicle control, so as to achieve the purpose of automatic parking. Although this single vehicle intelligent mode is being applied on a large scale and is mature, for example, in the use scenario of advanced passenger parking (AVP), there is a problem that the planned path lags behind the real-time road condition, which may lead to the risk of vehicle collision and parking interruption during the passenger parking because of some unpredictable information.
Disclosure of Invention
In order to solve at least one of the problems mentioned in the background art, the application provides an automatic parking method, an automatic parking device, an electronic device and a storage medium based on a field terminal, which can avoid risks of vehicle collision and parking interruption caused by unexpected information.
The specific technical scheme provided by the embodiment of the application is as follows:
in a first aspect, an automatic parking method based on a field terminal is provided, and the automatic parking method is applied to a vehicle-mounted unit, and includes:
Uploading current vehicle information to a road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information;
If the current vehicle identity is qualified, uploading the current vehicle information to a field end server through the road side communication unit and downloading a high-precision map, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information and the high-precision map, and sends the parking route to the road side communication unit for broadcasting;
and receiving the parking route broadcasted by the roadside communication unit, and executing automatic parking according to the parking route and the high-precision map.
Further, if the current vehicle identity is qualified, the method further includes:
receiving a verification certificate with timeliness issued by the road side communication unit, so as to communicate with all the road side communication units by virtue of the verification certificate;
The field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information in combination with the high-precision map, and sends the parking route to the road side communication unit for broadcasting, and the method comprises the following steps:
And the field end server packages a parking route according to the serial number of the verification certificate and sends the parking route to the road side communication unit for broadcasting, so that the vehicle-mounted unit analyzes according to the serial number of the verification certificate to acquire the parking route.
Further, the field end sensor comprises at least one of a high-definition camera sensor, a laser radar sensor and a millimeter wave radar sensor, wherein the high-definition camera sensor is used for identifying the type and the number of target objects, the laser radar sensor is used for detecting and tracking the positions of the target objects, the millimeter wave radar sensor is used for detecting the speeds and the tracks of the target objects, and the sensing data is obtained by fusion processing of an edge computing unit according to the high-definition camera sensor, the laser radar sensor and the information of a plurality of target objects acquired by the millimeter wave radar sensor;
Wherein the perception data comprises at least one of the type, speed, position and pre-determined trajectory information of a plurality of target objects.
Further, if the current vehicle identity is qualified, the method further includes:
and dynamically matching and accessing the optimal road side communication unit according to the grade gradient strategy of the road side communication unit.
Further, the hierarchical gradient strategy includes:
The road side communication unit classifies the vehicle-mounted unit into at least two grades of a first grade, a second grade and a third grade;
The road side communication unit performs dynamic grade definition on the vehicle-mounted unit with qualified identity, so that the vehicle-mounted unit is matched and accessed into the corresponding road side communication unit according to the dynamic grade;
The dynamic level includes one of the first level, the second level, and the third level.
Further, the first level is used for defining a level of an on-board unit located in a single communication area of one roadside communication unit, the second level is used for defining a level of an on-board unit located in an overlapping communication area of a plurality of roadside communication units, the third level is used for defining an inactive on-board unit, and the roadside communication unit performs dynamic level definition on the on-board unit with qualified identity, so that the on-board unit accesses the corresponding roadside communication unit according to the dynamic level matching, and the method includes:
And if the load of the road side communication unit exceeds a preset load threshold, the road side communication unit performs resource splitting on the accessed vehicle-mounted unit, performs communication rejection on the vehicle-mounted unit of the third level, and performs matching handover on the vehicle-mounted unit of the second level so that the vehicle-mounted unit of the second level is matched and accessed to the road side communication unit with the minimum communication pressure in the current communication range.
Further, if the current vehicle identity is not qualified, the method further includes:
Re-uploading the current vehicle information to the road side communication unit for identity authentication;
if the number of times of unqualified identity authentication exceeds the preset number of times, the road side communication unit shields the vehicle information uploaded by the vehicle-mounted unit, and the vehicle-mounted unit cannot decrypt the information broadcasted by the road side communication unit.
In a second aspect, there is provided a field-based automatic parking apparatus, the apparatus comprising:
The identity authentication module is used for uploading the current vehicle information to the road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information;
The communication module is used for uploading the current vehicle information to a field end server through the road side communication unit and downloading a high-precision map if the current vehicle identity is qualified, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information in combination with the high-precision map and sends the parking route to the road side communication unit for broadcasting;
And the automatic parking module is used for receiving the parking route broadcasted by the roadside communication unit and executing automatic parking according to the parking route and the high-precision map.
In a third aspect, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the field-based auto-park method when executing the computer program.
In a fourth aspect, a computer-readable storage medium is provided, storing computer-executable instructions for performing the field-based auto-park method.
The embodiment of the application has the following beneficial effects:
according to the automatic parking method, the device, the electronic equipment and the storage medium based on the field terminal, provided by the embodiment of the application, the field terminal real-scene road conditions can be collected through the sensor deployed on the field terminal and are shared to the vehicle terminal in real time after being processed, so that the vehicle can sense global road condition information in real time, and the collision risk of the vehicle caused by the single vehicle sensing limitation can be avoided; and through unified dispatching at the yard end (by collecting and processing the positioning data of vehicles entering the yard end), the optimal parking route can be planned for the vehicles, the parking time is shortened, and parking interruption caused by unreasonable route is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a general flow chart of an automatic parking method based on a field terminal provided by an embodiment of the present application;
FIG. 2 illustrates a schematic diagram of a field-end based auto-park method, according to one embodiment of the application;
Fig. 3 is a schematic structural diagram of an automatic parking device based on a field end according to an embodiment of the present application;
FIG. 4 illustrates an exemplary system that may be used to implement various embodiments described in the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that throughout this specification and the claims, unless the context clearly requires otherwise, the words "comprise", "comprising", and the like, are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
It should also be appreciated that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Example 1
The application provides an automatic parking method based on a field terminal, which is applied to a vehicle-mounted unit, and referring to FIG. 1, the method comprises the following steps:
S1, uploading current vehicle information to a road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information;
s2, if the identity of the current vehicle is qualified, uploading current vehicle information to a field end server through a road side communication unit and downloading a high-precision map, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information and the high-precision map, and sends the parking route to the road side communication unit for broadcasting;
S3, receiving a parking route broadcasted by the road side communication unit, and executing automatic parking according to the parking route and the high-precision map.
Specifically, referring to fig. 2, the field end sensor includes at least one of a high-definition camera sensor, a laser radar sensor, and a millimeter wave radar sensor. The high-definition camera sensor is used for identifying the types and the numbers of the target objects, the laser radar sensor is used for detecting and tracking the positions of the target objects, and the millimeter wave radar sensor is used for detecting the speeds and the tracks of the target objects. The sensing data is obtained by fusion processing of the edge computing unit according to the information of a plurality of target objects obtained by the high-definition camera sensor, the laser radar sensor and the millimeter wave radar sensor. The perception data comprises at least one of the type, the speed, the position and the pre-judging track information of a plurality of target objects. The high-definition camera sensor, the laser radar sensor, the millimeter wave radar sensor and the edge computing unit at the field end jointly form a sensing module at the field end, and the edge computing unit fuses and processes the sensing module and transmits the processed information to the field end server through the Ethernet.
Specifically, the vehicle-mounted unit uploads the current vehicle information to the roadside communication unit through a DSRC (DEDICATED SHORT RANGE COMMUNICATION, dedicated short range communication technology) short wave communication mode. The current vehicle information comprises own vehicle identity authentication, vehicle speed and positioning data. Firstly, the road side communication unit receives the identity authentication information of the vehicle to judge the identity of the vehicle, and after the vehicle is judged to be qualified, the speed and the positioning data of the vehicle are uploaded to the field end server through the Ethernet, and the vehicle-mounted unit downloads the high-precision map in the road side communication unit. The sensor deployed at the field end collects and processes the field end real-scene road conditions and then shares the real-time road conditions with the vehicle end, so that the vehicle can sense global road condition information in real time, and collision risks caused by the sensing limitation of a single vehicle of the vehicle can be avoided; and through unified dispatching at the yard end (by collecting and processing the positioning data of vehicles entering the yard end), the optimal parking route can be planned for the vehicles, the parking time is shortened, and parking interruption caused by unreasonable route is avoided.
In some embodiments, if the current vehicle identity is acceptable, the method further comprises:
And receiving the verification certificates with timeliness issued by the road side communication units so as to communicate with all the road side communication units by virtue of the verification certificates.
Based on this, the above-mentioned field end server plans a parking route for the current vehicle according to the perception data and the current vehicle information acquired by the field end sensor in combination with the high-precision map and sends the parking route to the roadside communication unit for broadcasting, including:
The parking line is packed by the field end server according to the number of the verification certificate and is sent to the road side communication unit for broadcasting, so that the vehicle-mounted unit can analyze and acquire the parking line according to the number of the verification certificate.
Specifically, when a certain trolley enters a communication area of a road side communication unit before identity authentication, the road side communication unit firstly judges the identity information of the vehicle, and after the identity information is judged to be qualified, a verification certificate with a certain timeliness is issued to the vehicle, so that the vehicle can normally communicate with all road side communication units at the site by virtue of the certificate. The parking line is packed by the field terminal according to the verification certificate number issued by the road side communication unit and transmitted to the road side communication unit, then the road side communication unit broadcasts the parking line, the corresponding vehicle analyzes according to the verification certificate number to acquire the parking line, and then the vehicle can start automatic parking according to the high-precision map downloaded from the road side communication unit and the parking line.
In some embodiments, if the current vehicle identity is not acceptable, the method further comprises:
Re-uploading the current vehicle information to the road side communication unit for identity authentication;
If the number of unqualified identity authentication times exceeds the preset number, the road side communication unit shields the vehicle information uploaded by the vehicle-mounted unit, and the vehicle-mounted unit cannot decrypt the information broadcasted by the road side communication unit.
For example, if the identity of the vehicle is determined to be unacceptable, the roadside communication unit may mask the uploaded information from the vehicle, and the vehicle may not be able to decrypt the information broadcast by the roadside communication unit. The preset number of times may be set to, for example, 3 times, 5 times, or the like. For example, to avoid false positives, the vehicle may have three opportunities for identity authentication.
In some embodiments, if the current vehicle identity is acceptable, the method further comprises:
s4, dynamically matching and accessing the optimal road side communication unit according to the grade gradient strategy of the road side communication unit.
In particular, since there are a plurality of roadside communication units and a plurality of on-board units in the field, a reasonable matching mechanism is also required to avoid information turbulence. The single road side communication unit can cover communication in a certain area, and identity authentication is carried out on the vehicle-mounted unit entering the single road side communication unit. Meanwhile, in order to ensure the communication quality of the road side communication unit and the vehicle-mounted unit in the communication area, the road side communication unit also needs to perform reasonable allocation of communication resources for the vehicle-mounted unit after successful matching, dynamically adjusts the matching access of the current vehicle-mounted unit, and ensures the optimal matching access of the current vehicle-mounted unit while preventing the road side communication unit from being overloaded.
In some embodiments, the hierarchical gradient strategy comprises:
101. the road side communication unit classifies the vehicle-mounted units into at least two of a first level, a second level and a third level;
102. The road side communication unit performs dynamic grade definition on the vehicle-mounted units with qualified identities, so that the vehicle-mounted units are accessed to the corresponding road side communication units according to dynamic grade matching.
Wherein the dynamic level includes one of a first level, a second level, and a third level.
In some embodiments, the first level is used for defining a level of the on-board unit located in a single communication area of one roadside communication unit, the second level is used for defining a level of the on-board unit located in an overlapping communication area of a plurality of roadside communication units, the third level is used for defining an inactive on-board unit, and the roadside communication unit performs dynamic level definition on the on-board unit with qualified identity, so that the on-board unit accesses the corresponding roadside communication unit according to dynamic level matching, and the method includes:
If the load of the road side communication unit exceeds a preset load threshold, the road side communication unit performs resource distribution on the accessed vehicle-mounted unit, performs communication rejection on the vehicle-mounted unit of the third level, and performs matching handover on the vehicle-mounted unit of the second level, so that the vehicle-mounted unit of the second level is matched and accessed to the road side communication unit with the minimum communication pressure in the current communication range.
Specifically, the roadside communication unit may grade the vehicle-mounted unit into a first grade, a second grade, and a third grade. The first level corresponds to the vehicle-mounted unit in a single communication area of one road side communication unit; the second level corresponds to the vehicle-mounted unit positioned in the overlapping communication area of the plurality of road side communication units; the third level corresponds to an inactive on-board unit. The inactive on-board units may include on-board units that have long access times or that have long unchanged locations, and there may be no excessive access requirements for such on-board units. The road side communication unit redefines the grade of the vehicle-mounted unit according to the characteristic change of the vehicle-mounted unit, namely the dynamic grade definition. When the communication pressure of a certain road side communication unit is too high, resource distribution can be carried out according to the grade of the accessed vehicle-mounted unit. In particular, the access to the third class of on-board units is actively rejected, and when the rejected on-board units have communication requirements (at this time, the current state needs to be updated again, for example, the vehicle needs to be restarted when the vehicle position is unchanged for a long time), the matching of the road side communication units is performed again, and at this time, the road side communication units re-define the class of the on-board units according to the characteristics of the on-board units. While the road side communication unit of the second-level vehicle-mounted unit performs matching handover, in principle, the road side communication unit with the smallest communication pressure is taken as the best matching object, and no action is taken for the first-level vehicle-mounted unit. It should be noted that when a matching on-board unit is newly added, the on-board unit of the first level is accessed, the on-board unit of the second level or the third level is not accessed, and the extruded on-board unit re-executes the matching according to the level gradient strategy. In addition, for deployment of the road side communication units, incremental deployment can be performed at a position with higher vehicle density, so that communication overlapping areas of a plurality of road side communication units exist in the same small area to avoid the problem of overlarge communication pressure of a single road side communication unit.
In the embodiment, the real-scene road conditions of the field end can be collected through the sensor deployed at the field end and are shared to the vehicle end in real time after being processed, so that the vehicle can sense global road condition information in real time, and collision risks caused by the sensing limitation of the vehicle due to a bicycle can be avoided; and through unified dispatching at the yard end (by collecting and processing the positioning data of vehicles entering the yard end), the optimal parking route can be planned for the vehicles, the parking time is shortened, and parking interruption caused by unreasonable route is avoided.
It should be noted that the terms "S1", "S2", and the like are used for the purpose of describing the steps only, and are not intended to be construed to be specific as to the order or sequence of steps, nor are they intended to limit the present application, which is merely used to facilitate the description of the method of the present application, and are not to be construed as indicating the sequence of steps. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Example two
Corresponding to the above embodiment, the application also provides an automatic parking device based on a field end, and referring to fig. 3, the device comprises an identity authentication module, a communication module and an automatic parking module.
The identity authentication module is used for uploading current vehicle information to the road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information; the communication module is used for uploading the current vehicle information to a field end server through the road side communication unit and downloading a high-precision map if the current vehicle identity is qualified, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information in combination with the high-precision map and sends the parking route to the road side communication unit for broadcasting; and the automatic parking module is used for receiving the parking route broadcasted by the roadside communication unit and executing automatic parking according to the parking route and the high-precision map.
Further, if the current vehicle identity is qualified, the communication module is further configured to receive a verification certificate with timeliness issued by the roadside communication unit, so as to communicate with all the roadside communication units by means of the verification certificate; the field end server is used for packaging a parking route according to the serial number of the verification certificate and sending the parking route to the road side communication unit for broadcasting, so that the automatic parking module is used for the vehicle-mounted unit to analyze and acquire the parking route according to the serial number of the verification certificate.
Further, the field end sensor comprises at least one of a high-definition camera sensor, a laser radar sensor and a millimeter wave radar sensor, wherein the high-definition camera sensor is used for identifying the type and the number of target objects, the laser radar sensor is used for detecting and tracking the positions of the target objects, the millimeter wave radar sensor is used for detecting the speeds and the tracks of the target objects, and the sensing data is obtained by fusion processing of an edge computing unit according to the high-definition camera sensor, the laser radar sensor and the information of a plurality of target objects acquired by the millimeter wave radar sensor; wherein the perception data comprises at least one of the type, speed, position and pre-determined trajectory information of a plurality of target objects.
Further, if the current vehicle identity is qualified, the communication module is further configured to dynamically match and access the optimal roadside communication unit according to the level gradient policy of the roadside communication unit.
Further, the hierarchical gradient strategy includes: the road side communication unit classifies the vehicle-mounted unit into at least two grades of a first grade, a second grade and a third grade; the road side communication unit performs dynamic grade definition on the vehicle-mounted unit with qualified identity, so that the vehicle-mounted unit is matched and accessed into the corresponding road side communication unit according to the dynamic grade; the dynamic level includes one of the first level, the second level, and the third level.
Further, the first level is used for defining a level of an on-board unit located in a single communication area of one roadside communication unit, the second level is used for defining a level of an on-board unit located in an overlapping communication area of a plurality of roadside communication units, the third level is used for defining an inactive on-board unit, and the roadside communication unit performs dynamic level definition on the on-board unit with qualified identity, so that the on-board unit accesses the corresponding roadside communication unit according to the dynamic level matching, and the method includes: and if the load of the road side communication unit exceeds a preset load threshold, the road side communication unit is used for carrying out resource distribution on the accessed vehicle-mounted unit, carrying out communication rejection on the vehicle-mounted unit of the third level, and carrying out matching handover on the vehicle-mounted unit of the second level so that the communication module is used for matching the vehicle-mounted unit of the second level with the road side communication unit with the minimum communication pressure in the current communication range.
Further, if the current vehicle identity is not qualified, the identity authentication module is further used for uploading the current vehicle information to the road side communication unit again to perform identity authentication; if the number of times of unqualified identity authentication exceeds the preset number of times, the road side communication unit shields the vehicle information uploaded by the vehicle-mounted unit, and the vehicle-mounted unit cannot decrypt the information broadcasted by the road side communication unit.
For specific limitations regarding the location-based automatic parking apparatus, reference may be made to the above-mentioned limitations regarding the location-based automatic parking method embodiment, and thus, a detailed description thereof will be omitted herein. The modules in the automatic parking device based on the field end can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Example III
The application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor can realize the automatic parking method based on the field terminal when executing the program.
As shown in fig. 4, in some embodiments, the system can be used as the above-described electronic device of any of the described embodiments for a field-end-based auto-park method. In some embodiments, a system may include one or more computer-readable media (e.g., system memory or NVM/storage) having instructions and one or more processors (e.g., processor (s)) coupled with the one or more computer-readable media and configured to execute the instructions to implement the modules to perform the actions described in this disclosure.
For one embodiment, the system control module may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) and/or any suitable device or component in communication with the system control module.
The system control module may include a memory controller module to provide an interface to the system memory. The memory controller modules may be hardware modules, software modules, and/or firmware modules.
The system memory may be used, for example, to load and store data and/or instructions for the system. For one embodiment, the system memory may include any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, the system memory may comprise double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).
For one embodiment, the system control module may include one or more input/output (I/O) controllers to provide an interface to the NVM/storage device and the communication interface(s).
For example, NVM/storage may be used to store data and/or instructions. The NVM/storage may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).
The NVM/storage may include a storage resource that is physically part of the device on which the system is installed or it may be accessed by the device without being part of the device. For example, the NVM/storage may be accessed over a network via the communication interface(s).
The communication interface(s) may provide an interface for the system to communicate over one or more networks and/or with any other suitable device. The system may wirelessly communicate with one or more components of a wireless network in accordance with any of one or more wireless network standards and/or protocols.
For one embodiment, at least one of the processor(s) may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the system control module. For one embodiment, at least one of the processor(s) may be packaged together with logic of one or more controllers of the system control module to form a System In Package (SiP). For one embodiment, at least one of the processor(s) may be integrated on the same die as logic of one or more controllers of the system control module. For one embodiment, at least one of the processor(s) may be integrated on the same die with logic of one or more controllers of the system control module to form a system on chip (SoC).
In various embodiments, the system may be, but is not limited to being: a server, workstation, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet, netbook, etc.). In various embodiments, the system may have more or fewer components and/or different architectures. For example, in some embodiments, a system includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application by way of operation of the computer. Those skilled in the art will appreciate that the form of computer program instructions present in a computer readable medium includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Herein, a computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by a computer.
Communication media includes media whereby a communication signal containing, for example, computer readable instructions, data structures, program modules, or other data, is transferred from one system to another. Communication media may include conductive transmission media such as electrical cables and wires (e.g., optical fibers, coaxial, etc.) and wireless (non-conductive transmission) media capable of transmitting energy waves, such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules, or other data may be embodied as a modulated data signal, for example, in a wireless medium, such as a carrier wave or similar mechanism, such as that embodied as part of spread spectrum technology. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital or hybrid modulation techniques.
An embodiment according to the application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the application as described above.
Example IV
Corresponding to the above embodiment, the present application also provides a computer-readable storage medium storing computer-executable instructions for executing the field-based automatic parking method.
In this embodiment, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory, such as random access memory (RAM, DRAM, SRAM); and non-volatile memory such as flash memory, various read only memory (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, feRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed computer-readable information/data that can be stored for use by a computer system.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. An automatic parking method based on a field terminal is applied to a vehicle-mounted unit and is characterized by comprising the following steps of:
Uploading current vehicle information to a road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information;
If the current vehicle identity is qualified, uploading the current vehicle information to a field end server through the road side communication unit and downloading a high-precision map, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information and the high-precision map, and sends the parking route to the road side communication unit for broadcasting;
Receiving the parking route broadcasted by the roadside communication unit, and executing automatic parking according to the parking route and the high-precision map;
If the current vehicle identity is qualified, dynamically matching and accessing the optimal road side communication unit according to a grade gradient strategy of the road side communication unit, wherein the grade gradient strategy comprises the following steps:
The road side communication unit classifies the vehicle-mounted unit into at least two grades of a first grade, a second grade and a third grade;
the road side communication unit performs dynamic grade definition on the vehicle-mounted unit with qualified identity, so that the vehicle-mounted unit is matched and accessed to the corresponding road side communication unit according to the dynamic grade, and the road side communication unit comprises: if the load of the road side communication unit exceeds a preset load threshold, the road side communication unit performs resource splitting on the accessed vehicle-mounted unit, performs communication rejection on the third-level vehicle-mounted unit, and performs matching handover on the second-level vehicle-mounted unit so that the second-level vehicle-mounted unit is matched and accessed to the road side communication unit with the minimum communication pressure in the current communication range;
Wherein the dynamic level includes one of the first level, the second level, and the third level, the first level is used to define a level of on-board units located in a single communication area of one roadside communication unit, the second level is used to define a level of on-board units located in an overlapping communication area of a plurality of roadside communication units, and the third level is used to define an inactive on-board unit.
2. The field-based automatic parking method according to claim 1, wherein if the current vehicle identity is acceptable, the method further comprises:
receiving a verification certificate with timeliness issued by the road side communication unit, so as to communicate with all the road side communication units by virtue of the verification certificate;
The field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information in combination with the high-precision map, and sends the parking route to the road side communication unit for broadcasting, and the method comprises the following steps:
And the field end server packages a parking route according to the serial number of the verification certificate and sends the parking route to the road side communication unit for broadcasting, so that the vehicle-mounted unit analyzes according to the serial number of the verification certificate to acquire the parking route.
3. The automatic parking method based on the field end according to claim 1, wherein the field end sensor comprises at least one of a high-definition camera sensor, a laser radar sensor and a millimeter wave radar sensor, the high-definition camera sensor is used for identifying the type and the number of target objects, the laser radar sensor is used for detecting and tracking the positions of the target objects, the millimeter wave radar sensor is used for detecting the speeds and the tracks of the target objects, and the sensing data is obtained by fusion processing of a plurality of pieces of target object information acquired by the high-definition camera sensor, the laser radar sensor and the millimeter wave radar sensor through an edge computing unit;
Wherein the perception data comprises at least one of the type, speed, position and pre-determined trajectory information of a plurality of target objects.
4. The field-based automatic parking method according to claim 1, wherein if the current vehicle identity is not acceptable, the method further comprises:
Re-uploading the current vehicle information to the road side communication unit for identity authentication;
if the number of times of unqualified identity authentication exceeds the preset number of times, the road side communication unit shields the vehicle information uploaded by the vehicle-mounted unit, and the vehicle-mounted unit cannot decrypt the information broadcasted by the road side communication unit.
5. An automatic parking device based on a field terminal, characterized in that the device comprises:
The identity authentication module is used for uploading the current vehicle information to the road side communication unit so that the road side communication unit judges whether the current vehicle identity is qualified or not according to the current vehicle information;
The communication module is used for uploading the current vehicle information to a field end server through the road side communication unit and downloading a high-precision map if the current vehicle identity is qualified, so that the field end server plans a parking route for the current vehicle according to the sensing data acquired by the field end sensor and the current vehicle information in combination with the high-precision map and sends the parking route to the road side communication unit for broadcasting;
The automatic parking module is used for receiving the parking route broadcasted by the roadside communication unit and executing automatic parking according to the parking route and the high-precision map;
The communication module is further configured to dynamically match and access the optimal roadside communication unit according to a hierarchical gradient policy of the roadside communication unit if the current vehicle identity is qualified, where the hierarchical gradient policy includes:
The road side communication unit classifies the vehicle-mounted units into at least two grades of a first grade, a second grade and a third grade;
The road side communication unit performs dynamic grade definition on the vehicle-mounted unit with qualified identity, so that the vehicle-mounted unit is matched and accessed into the corresponding road side communication unit according to the dynamic grade, and the road side communication unit comprises: if the load of the road side communication unit exceeds a preset load threshold, the road side communication unit performs resource splitting on the accessed vehicle-mounted unit, performs communication rejection on the third-level vehicle-mounted unit, and performs matching handover on the second-level vehicle-mounted unit so that the second-level vehicle-mounted unit is matched and accessed to the road side communication unit with the minimum communication pressure in the current communication range;
Wherein the dynamic level includes one of the first level, the second level, and the third level, the first level is used to define a level of on-board units located in a single communication area of one roadside communication unit, the second level is used to define a level of on-board units located in an overlapping communication area of a plurality of roadside communication units, and the third level is used to define an inactive on-board unit.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the field-based auto-park method according to any one of claims 1 to 4 when the computer program is executed by the processor.
7. A computer-readable storage medium storing computer-executable instructions for performing the field-based auto-park method of any one of claims 1-4.
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